Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -r85bfe5051e4d2bf67be39d394f96c075b4e52836 -rea6ff77291eee02f351953b76c6720cf860c8be7
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 85bfe5051e4d2bf67be39d394f96c075b4e52836)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision ea6ff77291eee02f351953b76c6720cf860c8be7)
@@ -26,6 +26,7 @@
 #include "FPGA.h"
 #include "InternalADC.h"
 #include "OperationModes.h"
+#include "PIControllers.h"
 #include "SystemCommMessages.h"
 #include "TaskGeneral.h"
 #include "TaskPriority.h"
@@ -118,8 +119,6 @@
 DATA_DECL( F32, MeasuredDialInPumpMCSpeed, adcDialInPumpMCSpeedRPM, 0.0, 0.0 );   // measured dialIn pump motor controller speed
 DATA_DECL( F32, MeasuredDialInPumpMCCurrent, adcDialInPumpMCCurrentmA, 0.0, 0.0 );// measured dialIn pump motor controller current
 
-static F32 dipFlowError = 0.0;                                                   // dialIn flow error
-static F32 dipFlowErrorSum = 0.0;                                                // dialIn flow error sum
 static U32 dipControlTimerCounter = 0;                                           // determines when to perform control on dialIn flow
 
 static F32 flowReadings[ SIZE_OF_ROLLING_AVG ];                                 // holds flow samples for a rolling average
@@ -165,6 +164,12 @@
 
     // zero rolling flow average buffer
     resetDialInFlowMovingAverage();
+
+    // initialize dialysate inlet flow PI controller
+    initializePIController( PI_CONTROLLER_ID_DIALYSATE_FLOW, MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE,
+                            DIP_P_COEFFICIENT, DIP_I_COEFFICIENT,
+                            MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE, MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE,
+                            DIP_MIN_ERROR_SUM, DIP_MAX_ERROR_SUM );
 }
 
 /*************************************************************************
@@ -193,9 +198,6 @@
             dialInPumpDirection = dir;
             // set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we'll control to flow when ramp completed
             dialInPumpPWMDutyCyclePct = DIP_PWM_FROM_ML_PER_MIN((F32)flowRate);   // ~ 8% per 100 mL/min with a 10% zero offset added in (e.g. 100 mL/min = 8+10 = 18%)
-            // reset flow control stats
-            dipFlowError = 0.0;
-            dipFlowErrorSum = 0.0;
 
             switch ( dialInPumpState )
             {
@@ -251,9 +253,8 @@
     stopDialInPump();
     dialInPumpState = DIAL_IN_PUMP_OFF_STATE;
     dialInPumpPWMDutyCyclePct = 0.0;
-    dipFlowError = 0.0;
-    dipFlowErrorSum = 0.0;
     dipControlTimerCounter = 0;
+    resetPIController( PI_CONTROLLER_ID_DIALYSATE_FLOW, MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE );
 }
 
 /*************************************************************************
@@ -380,6 +381,7 @@
     else if ( dialInPumpPWMDutyCyclePctSet >= dialInPumpPWMDutyCyclePct )
     {
         resetDialInFlowMovingAverage();
+        resetPIController( PI_CONTROLLER_ID_DIALYSATE_FLOW, MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE );
         result = DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE;
     }
     // continue ramp up
@@ -416,6 +418,7 @@
     else if ( dialInPumpPWMDutyCyclePctSet <= dialInPumpPWMDutyCyclePct )
     {
         resetDialInFlowMovingAverage();
+        resetPIController( PI_CONTROLLER_ID_DIALYSATE_FLOW, MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE );
         result = DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE;
     }
     // continue ramp down
@@ -443,30 +446,12 @@
     DIAL_IN_PUMP_STATE_T result = DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE;
     F32 tgtFlow = (F32)getTargetDialInFlowRate();
     F32 actFlow = getMeasuredDialInFlowRate();
-    F32 pTerm, iTerm;
     F32 newPWM;
 
     // control at set interval
     if ( ++dipControlTimerCounter >= DIP_CONTROL_INTERVAL )
     {
-        // compute P term
-        if ( MOTOR_DIR_FORWARD == dialInPumpDirectionSet )
-        {
-            dipFlowError = tgtFlow - actFlow;
-        }
-        else
-        {
-            dipFlowError = (tgtFlow * -1.0) - (actFlow * -1.0);
-        }
-        pTerm = dipFlowError * DIP_P_COEFFICIENT;
-        pTerm = RANGE( pTerm, DIP_MIN_PWM_DC_DELTA, DIP_MAX_PWM_DC_DELTA );
-        // compute I term
-        dipFlowErrorSum += dipFlowError;
-        iTerm = RANGE( dipFlowErrorSum, DIP_MIN_ERROR_SUM, DIP_MAX_ERROR_SUM );
-        iTerm *= DIP_I_COEFFICIENT;
-        // compute new PWM duty cycle % for dialIn pump motor
-        newPWM = dialInPumpPWMDutyCyclePctSet + pTerm + iTerm;
-        newPWM = RANGE( newPWM, MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE, MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE );
+        newPWM = runPIController( PI_CONTROLLER_ID_DIALYSATE_FLOW, tgtFlow, actFlow );
         dialInPumpPWMDutyCyclePctSet = newPWM;
         etpwmSetCmpA( etpwmREG1, (U32)FLOAT_TO_INT_WITH_ROUND( dialInPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) ) );
         dipControlTimerCounter = 0;